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Auto climb, auto aim, shooter tuned, intake rotation tuned

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This commit is contained in:
Mehooliu
2026-03-05 10:09:30 -05:00
parent 420fd90b12
commit cc41ea3f1b
18 changed files with 369 additions and 119 deletions
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12
src/main/java/frc/robot/Robot.java
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@@ -4,13 +4,17 @@
package frc.robot;
import java.util.logging.Logger;
import org.photonvision.targeting.PhotonPipelineResult;
import com.pathplanner.lib.auto.AutoBuilder;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StructPublisher;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
@@ -44,6 +48,7 @@ public class Robot extends TimedRobot {
private static NetworkTable table;
private static GenericEntry distanceFromLimelight;
private static StructPublisher<Pose2d> advantageScopePublisher = NetworkTableInstance.getDefault().getStructTopic("Robot Pose hahaha", Pose2d.struct).publish();
public Robot() {
instance = this;
@@ -99,13 +104,16 @@ public class Robot extends TimedRobot {
// robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
TargetingSubsystems.updateShooterRPM(m_robotContainer.getSwerveDrive().getPose());
SmartDashboard.putNumber("Estimated Shooter RPM", Constants.ShooterConstants.SHOOTER_RPM);
//Constants.ShooterConstants.getRampAndIndexerMotorSpeed();
//Constants.IntakeConstants.updateIntakeWheelsRPM();
Constants.ShooterConstants.updateShooterRPM();
//Constants.ShooterConstants.updateShooterRPM();
TargetingSubsystems.getHubPoseTheta(m_robotContainer.getSwerveDrive());
//Constants.ShooterConstants.updateIndexerAndRampMotorRPM();
advantageScopePublisher.set(m_robotContainer.getSwerveDrive().getPose());
}
/**